Operation method of riding type mower

Abstract

The invention discloses an operation method of a riding type mower. The operation method comprises the following steps: S1, starting the mower; s2, acquiring coordinates (x, y) of a rocker of the mower; s3, according to the rocker coordinate (x, y), determining the area of the coordinate in the rocker coordinate system; s4, the rocker coordinates (x, y) are substituted into a motor instruction rotating speed algorithm corresponding to the area where the rocker coordinates are located to calculate and obtain the rotating speed of a left motor and the rotating speed of a right motor respectively; and S5, controlling a left motor and a right motor to operate according to a calculation result, and driving the mower to operate. According to the method, the running state of the riding type mower is divided in a coordinate comparison mode, and the problem of repeated division can be avoided through division of different areas in the rocker coordinate system, so that more accurate control over the running state of the riding type mower is achieved, and the mowing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a riding lawn mower, and in particular to an operating method of the riding lawn mower. Background Art

[0002] A lawn mower, also known as a weed cutter, lawn mower, or lawn trimmer, is a mechanical tool used to trim grass and vegetation. It consists of a cutterhead, engine, wheels, a running mechanism, blades, armrests, and controls. Existing lawn mowers typically include handheld mowers and riding mowers. Handheld mowers are widely used due to their compact size and portability. However, due to their limited mowing capacity, efficiency, and battery life, handheld mowers are unable to meet the needs of mowing large areas. Consequently, riding mowers have become more widely used.

[0003] Chinese patent document CN113966665A discloses a riding lawn mower and a control method thereof, comprising: an operating device that, when triggered by a user, issues an automatic parking signal to trigger the riding lawn mower to enter an automatic parking mode; a detection device for detecting the operating parameters of a travel motor when the riding lawn mower is in the automatic parking mode; a brake assembly for at least mechanically braking to prevent the travel wheel from moving relative to the frame; the brake assembly outputting a brake signal when triggered by the user; an alarm assembly for issuing an alarm to alert the user; and a control module configured to: receive the automatic parking signal to place the riding lawn mower in the automatic parking mode; when the riding lawn mower is in the automatic parking mode and no brake signal is received, determine whether the operating parameters of the travel motor are greater than a preset threshold; and control the alarm assembly to issue an alarm when the operating parameters of the travel motor are greater than the preset threshold. The present invention improves the safety and energy efficiency of the riding lawn mower.

[0004] This prior art has the following drawbacks: In this prior art, the control module calculates or looks up a table based on the detected joystick position to determine the target speed and rotation direction of the travel motor corresponding to that position. Currently, the travel motor rotation direction is typically calculated by obtaining the joystick angle, which is then used to determine the current joystick seating area and, therefore, the travel motor rotation direction. However, riding lawn mowers have been found to be prone to errors in their travel direction, resulting in repeated mowing and reduced mowing efficiency. Summary of the Invention

[0005] In order to solve the problem of inaccurate driving state control in the process of using a rocker control in the prior art riding lawn mower, the present invention provides an operating method of the riding lawn mower, comprising the following steps:

[0006] S1, start the lawn mower;

[0007] S2. Get the coordinates (x, y) of the lawn mower rocker.

[0008] S3. Determine, based on the joystick coordinate (x, y), whether the coordinate is within the joystick coordinate system area.

[0009] S4. Substitute the joystick coordinates (x, y) into the motor command speed algorithm corresponding to the region to calculate the left motor speed and the right motor speed respectively;

[0010] S5. Control the left motor and the right motor to operate according to the calculation result, and drive the lawn mower to operate.

[0011] Preferably, the joystick coordinate system includes a stop area, a forward forward area, a front right area, a right zero turn area, a backward right area, a backward area, a backward left area, a left zero turn area and a left front area.

[0012] Preferably, the stop area is 1848≤X≤2248 and 1848≤Y≤2248 in the joystick coordinate system; the left motor speed and the right motor speed corresponding to the stop area are both 0.

[0013] Preferably, the forward forward area is 2248≤Y≤4096 and 11.43X-21361≤y≤11.43+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the forward forward area is L=S1*1.3*(Y-2248), R=S2*L1+K1.

[0014] Preferably, the front right area is X<1848 and 0.087X+2227<y<0.0087X, y<11.43+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the front right area is

[0015]

[0016] Preferably, the right zero steering area is 0≤X<1848 and 0.087X+1869≤y≤0.087X+2227 in the joystick coordinate system; the motor command speed algorithm corresponding to the right zero steering area is and reverse.

[0017] Preferably, the right backward area is X<1848 and y<0.087X+1869 in the joystick coordinate system, 11.43X+21361<y<1848; the motor command speed algorithm corresponding to the right backward area is and reverse, and reverse.

[0018] Preferably, the backward area is 0≤y<1848,11.43X-21361≤y≤11.43X+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the backward area is L=S1*0.65*(1848-Y) and reversed, R=S2*L+K2 and reversed.

[0019] Preferably, the left backward area is x>2248, y<1848, 11.43X+25457<y<0.087X+2227 in the joystick coordinate system; the motor command speed algorithm corresponding to the left backward area is and reverse, and reverse.

[0020] Preferably, the left zero turn area in the joystick coordinate system is x>2248, y<1848, 0.087X+2227≤y≤0.087X+1869; the motor command speed algorithm corresponding to the left zero turn area is L=S1*0.65*(4096-X) and reversed, R=S2*L+K4.

[0021] Preferably, the left front area is x>2248, y>2248, 0.087X+1869≤y≤11.43X-21361 in the joystick coordinate system; the motor command speed algorithm corresponding to the left front area is And reverse, R=S2+1.17*

[0022]

[0023] The present invention has the following beneficial effects:

[0024] 1. Compared with the prior art, the present invention uses coordinate comparison to divide the driving state of a riding lawn mower. By dividing different areas within the rocker coordinate system, the problem of repeated division can be avoided, thereby achieving more precise control of the driving state of the riding lawn mower, avoiding repeated mowing, and improving mowing efficiency.

[0025] 2. Considering that the driving speeds are different under different driving conditions, the present invention adopts different algorithms to calculate the rotational speeds of the left motor and the right motor under different driving conditions, which can ensure that the obtained calculation results are more suitable for the actual situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the division of a rocker coordinate system in an embodiment of a method for operating a riding lawn mower of the present invention. DETAILED DESCRIPTION

[0027] The following is further described in detail through specific implementation methods:

[0028] 1. Definition:

[0029] Joystick: The moving direction and speed of the riding lawn mower can be controlled manually or electrically; when the joystick is pushed forward, the riding lawn mower moves forward, when the joystick is pulled backward, the riding lawn mower moves backward, and when the joystick is rotated left or right, the riding lawn mower will turn left or right.

[0030] 2. The reference numerals in the drawings of the specification include: stop area 10, forward forward area 1, front right area 2, right zero turn area 3, rearward right area 4, rearward area 5, rearward left area 6, left zero turn area 7, and left front area 8.

[0031] The embodiment is basically as shown in the attached Figure 1 A method for operating a riding lawn mower, comprising the following steps:

[0032] S1, start the lawn mower;

[0033] S2. Get the coordinates (x, y) of the lawn mower rocker.

[0034] S3. Determine, based on the joystick coordinate (x, y), whether the coordinate is within the joystick coordinate system area.

[0035] S4. Substitute the joystick coordinates (x, y) into the motor command speed algorithm corresponding to the region to calculate the left motor speed and the right motor speed respectively;

[0036] S5. Control the left motor and the right motor to operate according to the calculation result, and drive the lawn mower to operate.

[0037] Specifically, when the obtained joystick coordinates (x, y) satisfy 1848≤X≤2248 and 1848≤y≤2248, it is determined that the coordinates are within the stop area 10 of the joystick coordinate system. At this time, the corresponding left motor speed and right motor speed are both 0, and the riding lawn mower is in a stopped state.

[0038] When the obtained joystick coordinates (x, y) satisfy 2248≤Y≤4096 and 11.43X-21361≤y≤11.43+25457, it is determined that the coordinates are in the front forward area 1 of the joystick coordinate system. The motor command speed algorithm corresponding to the front forward area 1 is L=S1*1.3*(Y-2248), R=S2*L1+K1.

[0039] When the obtained joystick coordinates (x, y) satisfy X < 1848 and 0.087X + 2227 < y < 0.0087X, y < 11.43 + 25457, it is determined that the coordinates are within the front right area 2 of the joystick coordinate system. The motor command speed algorithm corresponding to the front right area 2 is

[0040]

[0041] When the obtained joystick coordinates (x, y) satisfy 0≤X<1848 and 0.087X+1869≤y≤0.087X+2227, it is determined that the coordinates are within the right zero turn area 3 of the joystick coordinate system. The motor command speed algorithm corresponding to the right zero turn area 3 is

[0042] and reverse.

[0043] When the obtained joystick coordinates (x, y) satisfy X < 1848 and y < 0.087X + 1869, 11.43X + 21361 < y < 1848, it is determined that the coordinates are within the backward right area 4 of the joystick coordinate system. The motor command speed algorithm corresponding to the backward right area 4 is and reverse, and reverse.

[0044] When the obtained joystick coordinates (x, y) satisfy 0≤y<1848,11.43X-21361≤y≤11.43X+25457, it is determined that the coordinates are within the retreat area 5 of the joystick coordinate system. The motor command speed algorithm corresponding to the retreat area 5 is L=S1*0.65*(1848-Y) and reversed, and R=S2*L+K2 and reversed.

[0045] When the obtained joystick coordinates (x, y) satisfy x>2248, y<1848, 11.43X+25457<y<0.087X+2227, it is determined that the coordinates are within the backward left area 6 of the joystick coordinate system. The motor command speed algorithm corresponding to the backward left area 6 is and reverse, and reverse.

[0046] When the obtained joystick coordinates (x, y) satisfy x>2248, y<1848, 0.087X+2227≤y≤0.087X+1869, it is determined that the coordinates are within the left zero turn area 7 of the joystick coordinate system. The motor command speed algorithm corresponding to the left zero turn area 7 is L=S1*0.65*(4096-X) and reversed, R=S2*L+K4.

[0047] When the obtained joystick coordinates (x, y) satisfy x>2248, y>2248, 0.087X+1869≤y≤11.43X-21361, it is determined that the coordinates are within the left front area 8 of the joystick coordinate system. The motor command speed algorithm corresponding to the left front area 8 is and reverse,

[0048] The specific implementation process is as follows: in the joystick coordinate system, set the joystick to the rightmost position x=0 and the leftmost position x=4096; the joystick to the rearmost position y=0 and the frontmost position y=4096.

[0049] During use, the user uses the joystick to control the riding lawn mower's movement and obtain the joystick coordinates (x, y). After obtaining the joystick coordinates (x, y), the x and y coordinate values ​​are first determined to determine the joystick's current location. The current joystick coordinates are set to (1848, 2248). After comparing x = 1848 and y = 2248 with the coordinate ranges of different areas of the joystick coordinate system, the current joystick location is determined to be stop zone 10. At this time, the left and right motor speeds are both 0, and the riding lawn mower is in the stopped state.

[0050] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A method for operating a riding lawn mower, characterized in that: The following steps are involved: S1, start the lawn mower; S2, obtain the coordinates (x, y) of the lawn mower rocker; S3, judging, according to the joystick coordinate (x, y), whether the coordinate is in the region where the joystick coordinate system is located; S4, bringing the joystick coordinates (x, y) into the motor command speed algorithm corresponding to the area to calculate the left motor speed and the right motor speed respectively; S5. Control the left motor and the right motor to operate according to the calculation result, and drive the lawn mower to operate.

2. The method for operating a riding lawn mower according to claim 1, characterized in that: The joystick coordinate system includes a stop area, a front forward area, a front right area, a right zero turn area, a rearward right area, a rearward area, a rearward left area, a left zero turn area and a left front area.

3. The method for operating a riding lawn mower according to claim 2, characterized in that: The stop area is 1848≤X≤2248 and 1848≤Y≤2248 in the joystick coordinate system; the left motor speed and the right motor speed corresponding to the stop area are both 0.

4. The method for operating a riding lawn mower according to claim 3, characterized in that: The forward forward area in the front is 2248≤Y≤4096 and 11.43X-21361≤y≤11.43+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the forward forward area in the front is L=S1*1.3*(Y-2248), R=S2*L1+K1.

5. The method for operating a riding lawn mower according to claim 4, characterized in that: The front right area is X<1848 and 0.087X+2227<y<0.0087X, y<11.43+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the front right area is:

6. The method for operating a riding lawn mower according to any one of claims 2 to 5, characterized in that: The right zero turning area is 0≤X<1848 and 0.087X+1869≤y≤0.087X+2227 in the rocker coordinate system; the motor command speed algorithm corresponding to the right zero turning area is: And reverse.

7. The method for operating a riding lawn mower according to claim 6, characterized in that: The right backward area is X<1848 and y<0.087X+1869 in the joystick coordinate system, 11.43X+21361<y<1848; the motor command speed algorithm corresponding to the right backward area is And reverse, And reverse.

8. The method for operating a riding lawn mower according to claim 7, characterized in that: The retreat area is 0≤y<1848,11.43X-21361≤y≤11.43X+25457 in the joystick coordinate system; the motor command speed algorithm corresponding to the retreat area is L=S1*0.65*(1848-Y) and reversed, R=S2*L+K2 and reversed.

9. The method for operating a riding lawn mower according to claim 8, characterized in that: The left backward area is x>2248, y<1848, 11.43X+25457<y<0.087X+2227 in the rocker coordinate system; the motor command speed algorithm corresponding to the left backward area is: And reverse, And reverse.

10. The method for operating a riding lawn mower according to claim 9, characterized in that: The left zero turning area is x>2248, y<1848, 0.087X+2227≤y≤0.087X+1869 in the joystick coordinate system; the motor command speed algorithm corresponding to the left zero turning area is L=S1*0.65*(4096-X) and reversed, R=S2*L+K4.

11. The method for operating a riding lawn mower according to claim 10, characterized in that: The left front area is x>2248, y>2248, 0.087X+1869≤y≤11.43X-21361 in the joystick coordinate system; the motor command speed algorithm corresponding to the left front area is: And reverse,

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